Work Movements: Balance Between Freedom and Guidance on an Assembly Task in a Furniture Manufacturer

2016 ◽  
pp. 503-511 ◽  
Author(s):  
Symone A. Miguez ◽  
M. Susan Hallbeck ◽  
Peter Vink
Keyword(s):  
Assembly Task

Musculoskeletal disorder risk associated with auto rotation angle during an assembly task

2009 ◽  
Author(s):  
Sue A. Ferguson ◽  
William S. Marras ◽  
W. Gary Allread ◽  
Gregory G. Knapik ◽  
Kimberly A. Vandlen ◽  
...  
Keyword(s):  
Musculoskeletal Disorder ◽  
Rotation Angle ◽  
Assembly Task ◽  
Disorder Risk

scholarly journals Cognitive Interaction Analysis in Human–Robot Collaboration Using an Assembly Task

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1317
Author(s):  
Alejandro Chacón ◽  
Pere Ponsa ◽  
Cecilio Angulo
Keyword(s):  
Interaction Analysis ◽  
Mental Workload ◽  
Cognitive Task ◽  
Physical Work ◽  
Work Skills ◽  
Dexterous Manipulation ◽  
Assembly Task ◽  
Cognitive Interaction ◽  
Human Operators ◽  
Assembly Tasks

In human–robot collaborative assembly tasks, it is necessary to properly balance skills to maximize productivity. Human operators can contribute with their abilities in dexterous manipulation, reasoning and problem solving, but a bounded workload (cognitive, physical, and timing) should be assigned for the task. Collaborative robots can provide accurate, quick and precise physical work skills, but they have constrained cognitive interaction capacity and low dexterous ability. In this work, an experimental setup is introduced in the form of a laboratory case study in which the task performance of the human–robot team and the mental workload of the humans are analyzed for an assembly task. We demonstrate that an operator working on a main high-demanding cognitive task can also comply with a secondary task (assembly) mainly developed for a robot asking for some cognitive and dexterous human capacities producing a very low impact on the primary task. In this form, skills are well balanced, and the operator is satisfied with the working conditions.

Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation

Robotica ◽  
2016 ◽  
Vol 35 (8) ◽  
pp. 1732-1746 ◽  
Author(s):  
Loris Roveda ◽  
Nicola Pedrocchi ◽  
Federico Vicentini ◽  
Lorenzo Molinari Tosatti
Keyword(s):  
Closed Loop ◽  
Control Law ◽  
Light Weight ◽  
Mobile Platforms ◽  
Control Laws ◽  
Assembly Task ◽  
Base Position ◽  
Force Tracking ◽  
Compliant Robot ◽  
Target Force

SUMMARYLight-weight manipulators are used in industrial tasks mounted on mobile platforms to improve flexibility. However, such mountings introduce compliance affecting the tasks. This work deals with such scenarios by designing a controller that also takes into account compliant environments. The controller allows the tracking of a target force using the estimation of the environment stiffness (EKF) and the estimation of the base position (KF), compensating the robot base deformation. The closed-loop stability has been analyzed. Observers and the control law have been validated in experiments. An assembly task is considered with a standard industrial non-actuated mobile platform. Control laws with and without base compensation are compared.

Design Considerations for Vibration Assisted Compliant Assembly

1991 ◽  
Author(s):  
Y. Liu ◽  
Ming C. Leu
Keyword(s):  
Relative Motion ◽  
Search Time ◽  
Numerical Procedure ◽  
Vibration Frequencies ◽  
Assembly Model ◽  
Assembly Task ◽  
Design Considerations ◽  
Positional Uncertainty ◽  
Compliant Assembly ◽  
Uncertainty Set

Abstract This paper presents design considerations for vibration assisted compliant assembly involving peg-in-hole insertion. We propose a feasible parts mating assembly model, based on the positional uncertainty and tolerance of an assembly task. For an infeasible task, whose tolerance set does not contain the uncertainty set, it is proposed to introduce a relative motion between the two mating parts, so as to enlarge the task tolerance relative to its uncertainty. A specific type of such motion, viz vibration in two orthogonal directions, is studied in detail. The amplitudes and frequencies of vibrations are determined for given tolerance, uncertainty, and other assembly parameters. A numerical procedure is devised to select the ratio of the two orthogonal vibration frequencies, for minimum search time of parts engagement. Criteria on suitable compliances for assembly are proposed, with consideration of insertion failure.

A novel task-oriented framework for dual-arm robotic assembly task

2021 ◽  
Vol 16 (3) ◽  
pp. 528-545
Author(s):  
Zhengwei Wang ◽  
Yahui Gan ◽  
Xianzhong Dai
Keyword(s):  
Robotic Assembly ◽  
Assembly Task ◽  
Task Oriented ◽  
Dual Arm
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